CN106375720A - Smart visual holder system and realization method thereof - Google Patents
Smart visual holder system and realization method thereof Download PDFInfo
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- CN106375720A CN106375720A CN201610817448.1A CN201610817448A CN106375720A CN 106375720 A CN106375720 A CN 106375720A CN 201610817448 A CN201610817448 A CN 201610817448A CN 106375720 A CN106375720 A CN 106375720A
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- 238000011105 stabilization Methods 0.000 claims description 18
- 230000008859 change Effects 0.000 claims description 11
- 230000035807 sensation Effects 0.000 claims description 10
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 4
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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Abstract
The invention relates to a smart visual holder system and a realization method thereof. The system comprises an image collection module which is used for collecting high-speed high-definition sequence images and sending the collected images to a holder master control module; a tri-axial stabilizing holder which is used for controlling a posture of the image collection module; the holder master control module which interacts with the image collection module, the tri-axial stabilizing holder and an image processing module and is used for carrying out video coding and storage on the images collected by the image collection module; and the image processing module which is used for carrying out format conversion on the images received by the holder master control module from the image collection module and processing the images, thereby finishing visual target tracking under moving target indication and a variable field of view, and feeding back a processing result to the holder master control module. The technical problem that an existing system is low in intelligentization degree and single in function is solved. Two intelligent visual functions of moving target indication and variable field of view target continuous tracking are integrated, thereby facilitating use.
Description
Technical field
The present invention relates to horizontal stage electric machine controls and technical field of image processing, more particularly to a kind of intelligent vision head system
System and its implementation.
Background technology
Modern unmanned plane is generally positioned to " intelligent camera that can fly ", and its core technology is also around this objective exhibition
Open, mainly include automatic pilot, intelligent vision head and image transmission module.Wherein intelligent vision head is as core list
Unit, the competition of Shi Ge great unmanned plane producer is thermally.
Popular the saying of intelligent console is exactly the three-axis stabilization head of carry intelligent camera.Rock for counteracting fuselage or shake
Dynamic impact, holder for aerial photographing typically requires and camera is carried out increase surely in level, roll, three axial directions of pitching；For making unmanned plane
Be capable of intelligence carries out some operations, needs using intelligent vision image processing techniquess, video scene to be analyzed, thus with
Automatic pilot completes the functions such as vision localization, visual tracking, autonomous target acquisition, terrain following flight together.
Intelligent console product that is existing in the market or being found in report is mainly set by well-known unmanned plane company of several families
Meter and production.The Vision Table of the up-to-date release of great Jiang unmanned plane company adopts integral type head camera and super clear tight shot group
Close, its angle of view is 94 °, head adopts three axles (pitching, roll, driftage) stabilisation systemss, angle of pitch controllable rotary scope
For 30 ° to -90 °, roll and driftage do not support external control, and are integrated with intelligent vision target tracking function, but what it was followed the tracks of
Stability need to be improved.Zero degree intelligence control is proposed two intelligent vision head product, and wherein a and big boundary product is similar
But performance is slightly inferior, in addition a Vision Table then employs 30 times of zoom cameras, but does not possess intelligent vision function, is used only to
Take pictures and record a video.The product parameters of other business mens such as aee, 3d robtics, gopro are also similar with the said goods, but in performance
Also has a certain distance with the product of above-mentioned two company.Generally speaking, existing Vision Table product great majority are public by unmanned plane
Department's design and production, its technical merit in terms of visual pattern process need to be improved, and it is more and more abundanter that product is difficult to satisfaction
Unmanned plane vision application demand, such as target multiresolution shoots, Target self-determination detects etc..
In view of this, the special proposition present invention.
Content of the invention
It is an object of the invention to provide a kind of intelligent vision clouds terrace system, with solve existing system intelligence degree low,
The technical problem of single function.Additionally, also providing a kind of implementation method of intelligent vision clouds terrace system.
To achieve these goals, according to an aspect of the invention, it is provided technical scheme below:
A kind of intelligent vision clouds terrace system, this system includes:
Image capture module, for gathering high speed high definition sequence image, and the image collecting is sent to head master control
Module；
Three-axis stabilization head, for controlling the attitude of described image acquisition module；
Described head main control module, with described image acquisition module, described three-axis stabilization head and image processing module it
Between interact, the described image for collecting to described image acquisition module carries out Video coding and storage；
Described image processing module, for the image that described head main control module is received from described image acquisition module
Enter row format to change and processed, complete the visual target tracking under moving-target instruction and change visual field, and result is anti-
It is fed to described head main control module.
Further, described three-axis stabilization head specifically includes:
Three axle heads, including pitching spindle motor, roll spindle motor and course spindle motor, for controlling described image collection mould
The pitch attitude angle of block, roll attitude angle and course attitude angle；
Head increases steady module, for controlling stablizing of described image acquisition module attitude.
Further, described head main control module, specifically for by standard lvds interface and described image acquisition module
Interact, for being powered to described image acquisition module and controlling；And to described image processing module output image
Data and configuration parameter, receive the result of described image processing module, produce control signal, and described control signal is sent out
Deliver to described head and increase steady module, to control the attitude of described image acquisition module；It is additionally operable to outside by hdmi interface
Instruction.
Further, described system also includes:
Connecting rod, it is made up of carbon fibre material, for connecting described pitching spindle motor, described roll spindle motor and described boat
To the steering spindle of spindle motor, and support described image acquisition module.
Further, described image acquisition module is high definition zoom camera.
To achieve these goals, according to another aspect of the present invention, the embodiment of the present invention also provides a kind of intelligence to regard
Feel the implementation method of clouds terrace system, methods described includes:
Described head main control module receives the image of described image acquisition module collection, and described image data output is arrived
Image processing module；
Described image processing module receives view data and the command information of described head main control module output, to described figure
As data is processed, complete moving-target instruction and become visual field under visual target tracking, and by target position information send to
Described head main control module；
Described head main control module, according to the described target position information obtaining, sends control instruction and increases surely to described head
Module controls described image acquisition module to rotate so that described sensation target is located at the center in the described image acquisition module visual field；
Described sensation target is carried out with multiresolution, constantly follows the tracks of, obtain the high-definition picture of described sensation target.
The embodiment of the present invention provides a kind of intelligent vision clouds terrace system and its implementation.By using high definition zoom phase
Machine, the position relationship that need not change unmanned plane and target can complete the multiresolution of sensation target and shoots；Solve existing system
System intelligence degree is low, single function technical problem.Except the video recording shoot function that Vision Table possesses on the market, also integrated
Moving-target instruction, become visual field target Continuous and follow the tracks of two kinds of intelligent vision functions, and control whether to enable by external command
Intelligent vision function and recording function, facilitate use.
Brief description
Fig. 1 is the structural representation of intelligent vision clouds terrace system according to embodiments of the present invention；
Fig. 2 is the structural representation of intelligent vision clouds terrace system according to another embodiment of the present invention；
Fig. 3 is at high definition zoom camera according to embodiments of the present invention, three-axis stabilization head, head main control module and image
Annexation schematic diagram between reason module；
Fig. 4 is the schematic flow sheet of the implementation method of intelligent vision clouds terrace system according to embodiments of the present invention；
Fig. 5 is the schematic flow sheet of the implementation method of intelligent vision clouds terrace system according to another embodiment of the present invention.
Specific embodiment
The preferred embodiment of the present invention to be described with reference to the accompanying drawings.It will be apparent to a skilled person that this
A little embodiments are used only for explaining the know-why of the present invention it is not intended that limiting the scope of the invention.
In order to solve that existing system intelligence degree is low and the technical problem such as single function, the embodiment of the present invention provides one
Plant intelligent vision clouds terrace system.As shown in figure 1, this system 10 may include that image capture module 11, three-axis stabilization head 12,
Head main control module 14 and image processing module 13.Wherein, image capture module 11 is used for gathering high speed high definition sequence image, and
The image collecting is sent to head main control module 14.Three-axis stabilization head 12 is used for controlling the appearance of image capture module 11
State.Interact between head main control module 14 and image capture module 11, three-axis stabilization head 12 and image processing module 13,
Image for collecting to image capture module 11 carries out Video coding and storage.Image processing module 13 is used for head master
The image that control module 14 receives from image capture module enters row format conversion, and is processed, and completes moving-target instruction and becomes
Visual target tracking under visual field, and result is fed back to head main control module 14.
In the above-described embodiments, image capture module is preferably high definition zoom camera.Using high definition zoom camera, need not become
The multiresolution that the position relationship of change unmanned plane and target can complete target shoots.Head main control module 14 is from image acquisition mould
After block receives image, it is divided into two-way to be processed, wherein one tunnel is carried out Video coding, another road is sent to image
Reason module, enters row format by image processing module and changes and processed accordingly.
By adopting technique scheme, improve the intelligence degree of Vision Table system and enrich function.
In certain embodiments, on the basis of embodiment illustrated in fig. 1, three-axis stabilization head specifically include three axle heads and
Head increases steady module.Wherein, three axle heads include pitching spindle motor, roll spindle motor and course spindle motor, for controlling image
The pitch attitude angle of acquisition module, roll attitude angle and course attitude angle.Head increases steady module and is used for controlling image capture module
The stablizing of attitude.
In certain embodiments, on the basis of above-described embodiment, head main control module is specifically for by standard lvds
Interface is interacted with image capture module, for being powered to image capture module and controlling；And to image procossing mould
Block output image data and configuration parameter, receive the result of image processing module, produce control signal, and by control signal
Send and increase steady module to head, to control the attitude of image capture module；It is additionally operable to by rs232 interface external command.
In certain embodiments, on the basis of above-described embodiment, above-mentioned intelligent vision clouds terrace system can also be included even
Bar, this connecting rod can be made using carbon fibre material, for connecting turning of pitching spindle motor, roll spindle motor and course spindle motor
To axle, and support image capture module.
Describe intelligent vision clouds terrace system with a preferred embodiment and with reference to Fig. 2 and Fig. 3 in detail below.
As shown in Fig. 2 intelligent vision clouds terrace system include high definition zoom camera 1, pitching spindle motor 2, roll spindle motor 3,
Course spindle motor 4, connecting rod 5, head install firm banking 6, head increases steady module 7, head main control module 8 and image processing module
9.
As shown in figure 3, high definition zoom camera 1 is fixed on three-axis stabilization head.High definition zoom camera 1 and head main control module
8 are interacted by lvds interface.High definition zoom camera 1 sends view data to head main control module 8.Head main control module
8 send control parameter to high definition zoom camera 1, and high definition zoom camera 1 is powered.Head main control module 8 passes through
Rs232 interface external parameter input, output result and pass through hdmi output image.Head main control module 8 is at image
Reason module 9 sends view data configuration parameter, and receives the processing result image from image processing module 9.Head master control mould
Block 8 also sends control instruction to three-axis stabilization head.
In the present embodiment, high definition zoom camera 1 is vision sensor or the imageing sensor of intelligent vision clouds terrace system,
It is fixed on connecting rod and is connected with pitching spindle motor, and passes through standard lvds interface and external connection, by lvds interface
Acquisition is powered and is received external control signal setting camera parameter, is responsible for collection image and outwards exports collection by lvds interface
The image arriving, can also instruct according to outside input and change its focal length.
In the present embodiment, three-axle steady platform increases steady module two parts by three axle heads and head and forms, wherein, head
Increasing steady module controls three axle horizontal stage electric machines (i.e. pitching spindle motor 2, roll spindle motor 3 and course spindle motor 4) to realize automatic attitude
Stabilization function, and receive the cradle head control instruction of outside input.Wherein, pitching spindle motor 2 is used for controlling high definition zoom camera 1
Pitch attitude angle, its controllable rotary ranges preferably from -90 ° -30 °.Roll spindle motor 3 is used for controlling the horizontal stroke of high definition zoom camera 1
Rolling attitude angle, it does not provide outside controlled interface.Course spindle motor 4 is used for controlling the course attitude angle of high definition zoom camera 1, its
Controllable rotary ranges preferably from 360 ° of omnidirectionals.Above-mentioned motor is preferably brushless electric machine.
In the present embodiment, connecting rod 5 can be made with carbon fibre material, and its light weight intensity is high, is mainly used in connecting respectively
The steering spindle of individual motor and support high definition zoom camera 1, each steering spindle motor power-supply wire, control line and high definition zoom simultaneously
The holding wire of camera 1 is embedded in connecting rod.
In the present embodiment, head is installed firm banking 6 and is used for for head being fixed on unmanned plane.
In the present embodiment, head increases steady module 7 and is used for controlling three axle heads automatically to keep high definition zoom camera 1 attitude steady
Fixed, and three axle heads can be controlled to change the attitude of high definition zoom camera 1 according to input order.
In the present embodiment, head main control module 8 is the main control module of whole intelligent vision clouds terrace system, is used for completing together
High definition zoom camera 1, head increase the interaction between steady module 7, image processing module 9, and are that whole system is interacted with the external world
Interface, it is used for image data acquiring, Video coding and storage, and provides what intelligent vision clouds terrace system interacted with outside to own
Interface.Specifically, head main control module 8 and high definition zoom camera 1 pass through standard lvds interactive interfacing, are completed by lvds interface
Power supply to high definition zoom camera 1 and camera 1 control, and its output image data and configuration parameter to image processing module 9 and connect
Receive the result of image processing module 9, it produces control signal according to the output result of image processing module 9 and is sent to head
Increase the attitudes vibration to control high definition zoom camera 1 for the steady module 7, and the view data of collection is exported with hdmi interface, receive
External control instruction or spread out of result.
In the present embodiment, the picture signal of image processing module 9 receives input and command information, according to the parameter setting
Start corresponding image processing function, image processing function includes moving-target instruction, the visual target tracking function of becoming under visual field.
Finally, result is sent to head main control module.
Additionally, being based on above-mentioned intelligent vision clouds terrace system embodiment, the embodiment of the present invention also provides a kind of intelligent vision cloud
The implementation method of platform system, as shown in figure 4, the method may include that
S400: head main control module receives the image of image capture module collection, and view data is exported at image
Reason module.
S410: image processing module receives view data and the command information of head main control module output, to view data
Processed, complete the visual target tracking under moving-target instruction and change visual field, and target position information is sent to head master
Control module.
S420: head main control module, according to the target position information obtaining, sends control instruction and increases steady module control to head
Imaged acquisition module rotates so that sensation target is located at the center in the image capture module visual field.
S430: sensation target is carried out with multiresolution, constantly follows the tracks of, obtain the high-definition picture of sensation target.
To describe the process of the implementation method of intelligent vision clouds terrace system with reference to Fig. 5 with a preferred embodiment in detail.
Step s500: intelligent vision clouds terrace system carries out self-inspection, judges whether self-inspection is normal；If self-inspection is abnormal, head master
Control module sends caution sound and reminds hand inspection, if self-inspection is normally, starts three-axis stabilization head automatic attitude stabilization function, and
Execution later step.
Step s510: head main control module gathers the image of high definition zoom camera output by lvds interface, and by image
Data output is to image processing module.
Step s520: head main control module receives external command and interprets, to execute related later step.
Step s521: determine whether head main control module enables video record function according to instruction；If so, then execute video
Coding and storing step.
Step s522: determine whether image processing module enables intelligent vision function according to instruction；If then enabling dynamic mesh
Mark instruction function, detects and meets the moving target presetting target sizes scope in camera fields of view.
Step s523: enable change visual field following function, according to the result of detection of moving-target instruction, therefrom selected distance camera
The nearest target of central region, as target to be tracked, is run the visual target tracking function of becoming under visual field, tracking result is sent out
Deliver to head main control module so as to send instruction to control three-axis stabilization head, automatically by target movement to central region；Treat stable
After tracking, instruction is sent by head main control module and controls camera target to be amplified be imaged, run simultaneously and become under visual field
Visual target tracking function carries out multiresolution, constantly follows the tracks of to it, obtains following the tracks of the high-definition picture of target, and by mesh
Mark tracking result is sent to head main control module.
Step s524: determine whether for exit instruction according to instruction, if then stop intelligent vision clouds terrace system running.
The embodiment of the present invention is passed through using high definition Zoom camera, need not change the position relationship of unmanned plane and target
The multiresolution completing target shoots；Control whether to enable intelligent vision function and recording function by external command, conveniently make
With；And improve intelligence degree, except the video recording shoot function that Vision Table possesses on the market, also it is integrated with moving-target and refers to
Show, become visual field target Continuous tracking intelligent vision function.
Particular embodiments described above, has carried out detailed further to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail bright, be should be understood that the specific embodiment that the foregoing is only the present invention, be not limited to the present invention, all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvement done etc., should be included in the guarantor of the present invention
Within the scope of shield.
Claims (6)
1. a kind of intelligent vision clouds terrace system is it is characterised in that this system includes:
Image capture module, for gathering high speed high definition sequence image, and the image collecting is sent to head main control module；
Three-axis stabilization head, for controlling the attitude of described image acquisition module；
Enter between described head main control module, and described image acquisition module, described three-axis stabilization head and image processing module
Row interaction, the described image for collecting to described image acquisition module carries out Video coding and storage；
Described image processing module, for the described image that described head main control module is received from described image acquisition module
Enter row format to change and processed, complete the visual target tracking under moving-target instruction and change visual field, and result is anti-
It is fed to described head main control module.
2. intelligent vision clouds terrace system according to claim 1 is it is characterised in that described three-axis stabilization head specifically wraps
Include:
Three axle heads, including pitching spindle motor, roll spindle motor and course spindle motor, for controlling described image acquisition module
Pitch attitude angle, roll attitude angle and course attitude angle；
Head increases steady module, for controlling stablizing of described image acquisition module attitude.
3. intelligent vision clouds terrace system according to claim 2, it is characterised in that described head main control module, is specifically used
In being interacted with described image acquisition module by standard lvds interface, for being powered to described image acquisition module and
Control；And to described image processing module output image data and configuration parameter, receive the process of described image processing module
As a result, produce control signal, and described control signal is sent to the described head steady module of increasing, to control described image collection mould
The attitude of block；It is additionally operable to by rs232 interface external command.
4. the intelligent vision clouds terrace system according to Claims 2 or 3 is it is characterised in that described system also includes:
Connecting rod, it is made up of carbon fibre material, for connecting described pitching spindle motor, described roll spindle motor and described course axle
The steering spindle of motor, and support described image acquisition module.
5. intelligent vision clouds terrace system according to claim 1 is it is characterised in that described image acquisition module becomes for high definition
Burnt camera.
6. a kind of implementation method of the intelligent vision clouds terrace system as described in arbitrary in claim 1-3 or claim 5, it is special
Levy and be, methods described includes:
Described head main control module receives the image of described image acquisition module collection, and by described image data output to image
Processing module；
Described image processing module receives view data and the command information of described head main control module output, to described image number
According to being processed, complete moving-target instruction and become visual target tracking under visual field, and target position information is sent to described
Head main control module；
Described head main control module, according to the described target position information obtaining, sends control instruction and increases steady module to described head
Described image acquisition module is controlled to rotate so that described sensation target is located at the center in the described image acquisition module visual field；
Described sensation target is carried out with multiresolution, constantly follows the tracks of, obtain the high-definition picture of described sensation target.
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| CN106814754A (en) * | 2017-03-28 | 2017-06-09 | 东莞松山湖国际机器人研究院有限公司 | A kind of three axle heads, shooting robot and control method |
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